basics.h
General
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using ouster::osf::ts_t = std::chrono::nanoseconds
Common timestamp for all time in ouster::osf. Nanoseconds were chosen due to the data coming off of the sensor.
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enum ouster::osf::OSF_VERSION
Enumerator for the OSF Version. This will change whenever the underlying flatbuffer structures change.
Values:
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enumerator V_INVALID
Invalid OSF Version.
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enumerator V_1_0
Original version of the OSF (2019/9/16)
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enumerator V_1_1
Add gps/imu/car trajectory to the OSF (2019/11/14)
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enumerator V_1_2
Change gps_waypoint type to Table in order to support Python language generator
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enumerator V_1_3
Add extension for Message in osfChunk and for Session in osfSession (2020/03/18)
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enumerator V_1_4
Gen2/128 support (2020/08/11)
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enumerator V_2_0
Second Generation OSF v2.
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enumerator V_INVALID
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static constexpr uint32_t ouster::osf::FLATBUFFERS_PREFIX_LENGTH = 4
Standard Flatbuffers prefix size
- Todo:
[pb]: Rename this beast?
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std::string ouster::osf::to_string(const HEADER_STATUS status)
To String Functionality For HEADER_STATUS
- Parameters:
status – [in] The data to get the string representation format
- Returns:
The string representation
Buffer Operations
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uint32_t ouster::osf::get_prefixed_size(const uint8_t *buf)
Reads the prefix size of the Flatbuffers buffer. First 4 bytes.
- Parameters:
buf – [in] Pointer to Flatbuffers buffer stared with prefixed size
- Returns:
the size recovered from the stored prefix size
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uint32_t ouster::osf::get_block_size(const uint8_t *buf)
Calculates the full size of the block (prefixed_size + size + CRC32).
- Parameters:
buf – [in] Pointer to Flatbuffers buffer stared with prefixed size
- Returns:
the calculated size of the block
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bool ouster::osf::check_prefixed_size_block_crc(const uint8_t *buf, const uint32_t max_size = std::numeric_limits<uint32_t>::max())
Check the prefixed size buffer CRC32 fields.
- Parameters:
buf – [in] Structured as size prefixed Flatbuffer buffer, i.e. first 4 bytes is the size of the buffer (excluding 4 bytes of the size), and the 4 bytes that follows right after the 4 + [prefixed_size] is the CRC32 bytes.
max_size – [in] Total number of bytes that can be accessed in the buffer, as a safety precaution if buffer is not well formed, or if first prefixed size bytes are broken.
- Returns:
true if CRC field is correct, false otherwise
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std::string ouster::osf::to_string(const uint8_t *buf, const size_t count, const size_t max_show_count = 0)
Debug method to get hex buf values in string
- Parameters:
buf – [in] The buffer to dump to string.
count – [in] The size of the buffer.
max_show_count – [in] The number of bytes to dump. This arg is optional.
- Returns:
The string representation
Batching
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std::function<void(const osf::ts_t, const uint8_t*)> make_build_ls(const ouster::sensor::sensor_info &info, const LidarScanFieldTypes &ls_field_types, std::function<void(const ts_t, const ouster::LidarScan&)> handler)
Makes the closure to batch lidar_packets and emit LidarScan object. Result returned through callback handler(ts, LidarScan). LidarScan uses user modified field types
The above make_build_ls() function overload. In this function, LidarScan uses default field types by the profile
- Param info:
[in] The sensor metadata to use.
- Param ls_field_types:
[in] The field types to use.
- Param handler:
[in] The callback to use on the results.
- Return:
Closure to batch and emit LidarScan objects.
- Param info:
[in] The sensor metadata to use.
- Param handler:
[in] The callback to use on the results.
- Return:
Closure to batch and emit LidarScan objects.
ChunksLayout
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std::string ouster::osf::to_string(ChunksLayout chunks_layout)
To String Functionality For ChunksLayout
- Parameters:
chunks_layout – [in] The data to get the string representation format
- Returns:
The string representation
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ChunksLayout ouster::osf::chunks_layout_of_string(const std::string &s)
From String Conversion Functionality To ChunksLayout
- Parameters:
s – [in] The String Representation of ChunksLayout
- Returns:
The corrosponding ChunksLayout object